#ifndef RSIM_JOINTTYPE_H
#define RSIM_JOINTTYPE_H

/* -------------------------------------------------------------------------- *
 * File: JointType.h                                                          *
 * Authors: Kishor Bhalerao                                                   *
 * Email : kishor8dm@gmail.com                                                *
 * Contributors:                                                              *
 * Email:                                                                     *
 * copyright (c) 2010 Authors.                                                *
 *                                                                            *
 * This program is free software: you can redistribute it and/or modify it    *
 * under the terms of the GNU General Public License as published by the Free *
 * Software Foundation, either version 3 of the License, or any later version.*
 *                                                                            *
 * This program is distributed in the hope that it will be useful, but        *
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY *
 * or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License   *
 * for more details. (http://www.gnu.org/licenses/)                           *
 * -------------------------------------------------------------------------- */

namespace RSIM{
        
enum JointType{
        BallJoint, 		// The origin of frames F and M are coincident. No other constraint on the two frames
        PinJoint, 		// Rotational degree of freedom about the common Z axis
        PrismaticZJoint, 	// Translation along the common Z axis
        PrismaticXJoint, 	// Translation along the common X axis
        CylinderJoint, 		// Rotation and translation along/about the common Z axis
        XYZJoint, 		// Translation in X, Y and Z direction
        FreeJoint,		// Frames F is free and does not have any constraint on it.
        WeldJoint,		// Frames F and M are parallel with their origins coincident at all times
        Invalid
};

} // namespace RSIM

#endif